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c-user: Split up scheduling concepts

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Introduce a background section.

This makes it easier to automatically generate parts of the scheduling
concepts documentation in the future.

Update #3993.
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@ -28,7 +28,7 @@ RTEMS Classic API Guide (|version|).
overview overview
key_concepts key_concepts
rtems_data_types rtems_data_types
scheduling_concepts scheduling-concepts/index
initialization initialization
task/index task/index
interrupt/index interrupt/index

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 2011 Petr Benes
.. Copyright (C) 2010 Gedare Bloom
.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR)
Background
==========
.. index:: scheduling algorithms
Scheduling Algorithms
---------------------
RTEMS provides a plugin framework that allows it to support multiple
scheduling algorithms. RTEMS includes multiple scheduling algorithms, and the
user can select which of these they wish to use in their application at
link-time. In addition, the user can implement their own scheduling algorithm
and configure RTEMS to use it.
Supporting multiple scheduling algorithms gives the end user the option to
select the algorithm which is most appropriate to their use case. Most
real-time operating systems schedule tasks using a priority based algorithm,
possibly with preemption control. The classic RTEMS scheduling algorithm which
was the only algorithm available in RTEMS 4.10 and earlier, is a fixed-priority
scheduling algorithm. This scheduling algorithm is suitable for uniprocessor
(e.g., non-SMP) systems and is known as the *Deterministic Priority
Scheduler*. Unless the user configures another scheduling algorithm, RTEMS
will use this on uniprocessor systems.
.. index:: priority scheduling
Priority Scheduling
-------------------
When using priority based scheduling, RTEMS allocates the processor using a
priority-based, preemptive algorithm augmented to provide round-robin
characteristics within individual priority groups. The goal of this algorithm
is to guarantee that the task which is executing on the processor at any point
in time is the one with the highest priority among all tasks in the ready
state.
When a task is added to the ready chain, it is placed behind all other tasks of
the same priority. This rule provides a round-robin within a priority group
scheduling characteristic. This means that in a group of equal priority tasks,
tasks will execute in the order they become ready or FIFO order. Even though
there are ways to manipulate and adjust task priorities, the most important
rule to remember is:
.. note::
Priority based scheduling algorithms will always select the highest priority
task that is ready to run when allocating the processor to a task.
Priority scheduling is the most commonly used scheduling algorithm. It should
be used by applications in which multiple tasks contend for CPU time or other
resources, and there is a need to ensure certain tasks are given priority over
other tasks.
There are a few common methods of accomplishing the mechanics of this
algorithm. These ways involve a list or chain of tasks in the ready state.
- The least efficient method is to randomly place tasks in the ready chain
forcing the scheduler to scan the entire chain to determine which task
receives the processor.
- A more efficient method is to schedule the task by placing it in the proper
place on the ready chain based on the designated scheduling criteria at the
time it enters the ready state. Thus, when the processor is free, the first
task on the ready chain is allocated the processor.
- Another mechanism is to maintain a list of FIFOs per priority. When a task
is readied, it is placed on the rear of the FIFO for its priority. This
method is often used with a bitmap to assist in locating which FIFOs have
ready tasks on them. This data structure has :math:`O(1)` insert, extract
and find highest ready run-time complexities.
- A red-black tree may be used for the ready queue with the priority as the
key. This data structure has :math:`O(log(n))` insert, extract and find
highest ready run-time complexities while :math:`n` is the count of tasks in
the ready queue.
RTEMS currently includes multiple priority based scheduling algorithms as well
as other algorithms that incorporate deadline. Each algorithm is discussed in
the following sections.
.. index:: scheduling mechanisms
Scheduling Modification Mechanisms
----------------------------------
RTEMS provides four mechanisms which allow the user to alter the task
scheduling decisions:
- user-selectable task priority level
- task preemption control
- task timeslicing control
- manual round-robin selection
Each of these methods provides a powerful capability to customize sets of tasks
to satisfy the unique and particular requirements encountered in custom
real-time applications. Although each mechanism operates independently, there
is a precedence relationship which governs the effects of scheduling
modifications. The evaluation order for scheduling characteristics is always
priority, preemption mode, and timeslicing. When reading the descriptions of
timeslicing and manual round-robin it is important to keep in mind that
preemption (if enabled) of a task by higher priority tasks will occur as
required, overriding the other factors presented in the description.
.. index:: task priority
Task Priority and Scheduling
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The most significant task scheduling modification mechanism is the ability for
the user to assign a priority level to each individual task when it is created
and to alter a task's priority at run-time. The maximum priority level depends
on the configured scheduler. A lower priority level means higher priority
(higher importance). The maximum priority level of the default uniprocessor
scheduler is 255.
.. index:: preemption
Preemption
^^^^^^^^^^
Another way the user can alter the basic scheduling algorithm is by
manipulating the preemption mode flag (``RTEMS_PREEMPT_MASK``) of individual
tasks. If preemption is disabled for a task (``RTEMS_NO_PREEMPT``), then the
task will not relinquish control of the processor until it terminates, blocks,
or re-enables preemption. Even tasks which become ready to run and possess
higher priority levels will not be allowed to execute. Note that the
preemption setting has no effect on the manner in which a task is scheduled.
It only applies once a task has control of the processor.
.. index:: timeslicing
.. index:: round robin scheduling
Timeslicing
^^^^^^^^^^^
Timeslicing or round-robin scheduling is an additional method which can be used
to alter the basic scheduling algorithm. Like preemption, timeslicing is
specified on a task by task basis using the timeslicing mode flag
(``RTEMS_TIMESLICE_MASK``). If timeslicing is enabled for a task
(``RTEMS_TIMESLICE``), then RTEMS will limit the amount of time the task can
execute before the processor is allocated to another task. Each tick of the
real-time clock reduces the currently running task's timeslice. When the
execution time equals the timeslice, RTEMS will dispatch another task of the
same priority to execute. If there are no other tasks of the same priority
ready to execute, then the current task is allocated an additional timeslice
and continues to run. Remember that a higher priority task will preempt the
task (unless preemption is disabled) as soon as it is ready to run, even if the
task has not used up its entire timeslice.
.. index:: manual round robin
Manual Round-Robin
^^^^^^^^^^^^^^^^^^
The final mechanism for altering the RTEMS scheduling algorithm is called
manual round-robin. Manual round-robin is invoked by using
the ``rtems_task_wake_after`` directive with a time interval of
``RTEMS_YIELD_PROCESSOR``. This allows a task to give up the processor and be
immediately returned to the ready chain at the end of its priority group. If
no other tasks of the same priority are ready to run, then the task does not
lose control of the processor.
.. index:: dispatching
Dispatching Tasks
-----------------
The dispatcher is the RTEMS component responsible for allocating the processor
to a ready task. In order to allocate the processor to one task, it must be
deallocated or retrieved from the task currently using it. This involves a
concept called a context switch. To perform a context switch, the dispatcher
saves the context of the current task and restores the context of the task
which has been allocated to the processor. Saving and restoring a task's
context is the storing/loading of all the essential information about a task to
enable it to continue execution without any effects of the interruption. For
example, the contents of a task's register set must be the same when it is
given the processor as they were when it was taken away. All of the
information that must be saved or restored for a context switch is located
either in the TCB or on the task's stacks.
Tasks that utilize a numeric coprocessor and are created with the
``RTEMS_FLOATING_POINT`` attribute require additional operations during a
context switch. These additional operations are necessary to save and restore
the floating point context of ``RTEMS_FLOATING_POINT`` tasks. To avoid
unnecessary save and restore operations, the state of the numeric coprocessor
is only saved when a ``RTEMS_FLOATING_POINT`` task is dispatched and that task
was not the last task to utilize the coprocessor.
.. index:: task state transitions
Task State Transitions
----------------------
Tasks in an RTEMS system must always be in one of the five allowable task
states. These states are: executing, ready, blocked, dormant, and
non-existent.
A task occupies the non-existent state before a ``rtems_task_create`` has been
issued on its behalf. A task enters the non-existent state from any other
state in the system when it is deleted with the ``rtems_task_delete``
directive. While a task occupies this state it does not have a TCB or a task
ID assigned to it; therefore, no other tasks in the system may reference this
task.
When a task is created via the ``rtems_task_create`` directive, it enters the
dormant state. This state is not entered through any other means. Although
the task exists in the system, it cannot actively compete for system resources.
It will remain in the dormant state until it is started via the
``rtems_task_start`` directive, at which time it enters the ready state. The
task is now permitted to be scheduled for the processor and to compete for
other system resources.
.. figure:: ../../images/c_user/states.png
:width: 70%
:align: center
:alt: Task State Transitions
A task occupies the blocked state whenever it is unable to be scheduled to run.
A running task may block itself or be blocked by other tasks in the system.
The running task blocks itself through voluntary operations that cause the task
to wait. The only way a task can block a task other than itself is with the
``rtems_task_suspend`` directive. A task enters the blocked state due to any
of the following conditions:
- A task issues a ``rtems_task_suspend`` directive which blocks either itself
or another task in the system.
- The running task issues a ``rtems_barrier_wait`` directive.
- The running task issues a ``rtems_message_queue_receive`` directive with the
wait option, and the message queue is empty.
- The running task issues a ``rtems_event_receive`` directive with the wait
option, and the currently pending events do not satisfy the request.
- The running task issues a ``rtems_semaphore_obtain`` directive with the wait
option and the requested semaphore is unavailable.
- The running task issues a ``rtems_task_wake_after`` directive which blocks
the task for the given time interval. If the time interval specified is
zero, the task yields the processor and remains in the ready state.
- The running task issues a ``rtems_task_wake_when`` directive which blocks the
task until the requested date and time arrives.
- The running task issues a ``rtems_rate_monotonic_period`` directive and must
wait for the specified rate monotonic period to conclude.
- The running task issues a ``rtems_region_get_segment`` directive with the
wait option and there is not an available segment large enough to satisfy the
task's request.
A blocked task may also be suspended. Therefore, both the suspension and the
blocking condition must be removed before the task becomes ready to run again.
A task occupies the ready state when it is able to be scheduled to run, but
currently does not have control of the processor. Tasks of the same or higher
priority will yield the processor by either becoming blocked, completing their
timeslice, or being deleted. All tasks with the same priority will execute in
FIFO order. A task enters the ready state due to any of the following
conditions:
- A running task issues a ``rtems_task_resume`` directive for a task that is
suspended and the task is not blocked waiting on any resource.
- A running task issues a ``rtems_message_queue_send``,
``rtems_message_queue_broadcast``, or a ``rtems_message_queue_urgent``
directive which posts a message to the queue on which the blocked task is
waiting.
- A running task issues an ``rtems_event_send`` directive which sends an event
condition to a task that is blocked waiting on that event condition.
- A running task issues a ``rtems_semaphore_release`` directive which releases
the semaphore on which the blocked task is waiting.
- A timeout interval expires for a task which was blocked by a call to the
``rtems_task_wake_after`` directive.
- A timeout period expires for a task which blocked by a call to the
``rtems_task_wake_when`` directive.
- A running task issues a ``rtems_region_return_segment`` directive which
releases a segment to the region on which the blocked task is waiting and a
resulting segment is large enough to satisfy the task's request.
- A rate monotonic period expires for a task which blocked by a call to the
``rtems_rate_monotonic_period`` directive.
- A timeout interval expires for a task which was blocked waiting on a message,
event, semaphore, or segment with a timeout specified.
- A running task issues a directive which deletes a message queue, a semaphore,
or a region on which the blocked task is waiting.
- A running task issues a ``rtems_task_restart`` directive for the blocked
task.
- The running task, with its preemption mode enabled, may be made ready by
issuing any of the directives that may unblock a task with a higher priority.
This directive may be issued from the running task itself or from an ISR. A
ready task occupies the executing state when it has control of the CPU. A
task enters the executing state due to any of the following conditions:
- The task is the highest priority ready task in the system.
- The running task blocks and the task is next in the scheduling queue. The
task may be of equal priority as in round-robin scheduling or the task may
possess the highest priority of the remaining ready tasks.
- The running task may reenable its preemption mode and a task exists in the
ready queue that has a higher priority than the running task.
- The running task lowers its own priority and another task is of higher
priority as a result.
- The running task raises the priority of a task above its own and the running
task is in preemption mode.

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR)
Directives
==========
This section details the scheduler manager. A subsection is dedicated to each
of these services and describes the calling sequence, related constants, usage,
and status codes.
.. raw:: latex
\clearpage
.. _rtems_scheduler_ident:
SCHEDULER_IDENT - Get ID of a scheduler
---------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_ident(
rtems_name name,
rtems_id *id
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``id`` parameter is ``NULL``.
* - ``RTEMS_INVALID_NAME``
- Invalid scheduler name.
DESCRIPTION:
Identifies a scheduler by its name. The scheduler name is determined by
the scheduler configuration. See :ref:`ConfigurationSchedulerTable`
and :ref:`CONFIGURE_SCHEDULER_NAME`.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_ident_by_processor:
SCHEDULER_IDENT_BY_PROCESSOR - Get ID of a scheduler by processor
-----------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_ident_by_processor(
uint32_t cpu_index,
rtems_id *id
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``id`` parameter is ``NULL``.
* - ``RTEMS_INVALID_NAME``
- Invalid processor index.
* - ``RTEMS_INCORRECT_STATE``
- The processor index is valid, however, this processor is not owned by
a scheduler.
DESCRIPTION:
Identifies a scheduler by a processor.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_ident_by_processor_set:
SCHEDULER_IDENT_BY_PROCESSOR_SET - Get ID of a scheduler by processor set
-------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_ident_by_processor_set(
size_t cpusetsize,
const cpu_set_t *cpuset,
rtems_id *id
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``id`` parameter is ``NULL``.
* - ``RTEMS_INVALID_SIZE``
- Invalid processor set size.
* - ``RTEMS_INVALID_NAME``
- The processor set contains no online processor.
* - ``RTEMS_INCORRECT_STATE``
- The processor set is valid, however, the highest numbered online
processor in the specified processor set is not owned by a scheduler.
DESCRIPTION:
Identifies a scheduler by a processor set. The scheduler is selected
according to the highest numbered online processor in the specified
processor set.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_maximum_priority:
SCHEDULER_GET_MAXIMUM_PRIORITY - Get maximum task priority of a scheduler
-------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_get_maximum_priority(
rtems_id scheduler_id,
rtems_task_priority *priority
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_ADDRESS``
- The ``priority`` parameter is ``NULL``.
DESCRIPTION:
Returns the maximum task priority of the specified scheduler instance in
``priority``.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_map_priority_to_posix:
SCHEDULER_MAP_PRIORITY_TO_POSIX - Map task priority to POSIX thread prority
---------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_map_priority_to_posix(
rtems_id scheduler_id,
rtems_task_priority priority,
int *posix_priority
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``posix_priority`` parameter is ``NULL``.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_PRIORITY``
- Invalid task priority.
DESCRIPTION:
Maps a task priority to the corresponding POSIX thread priority.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_map_priority_from_posix:
SCHEDULER_MAP_PRIORITY_FROM_POSIX - Map POSIX thread prority to task priority
-----------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_map_priority_from_posix(
rtems_id scheduler_id,
int posix_priority,
rtems_task_priority *priority
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``priority`` parameter is ``NULL``.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_PRIORITY``
- Invalid POSIX thread priority.
DESCRIPTION:
Maps a POSIX thread priority to the corresponding task priority.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_processor:
SCHEDULER_GET_PROCESSOR - Get current processor index
-----------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
uint32_t rtems_scheduler_get_processor( void );
DIRECTIVE STATUS CODES:
This directive returns the index of the current processor.
DESCRIPTION:
In uniprocessor configurations, a value of zero will be returned.
In SMP configurations, an architecture specific method is used to obtain the
index of the current processor in the system. The set of processor indices
is the range of integers starting with zero up to the processor count minus
one.
Outside of sections with disabled thread dispatching the current processor
index may change after every instruction since the thread may migrate from
one processor to another. Sections with disabled interrupts are sections
with thread dispatching disabled.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_processor_maximum:
SCHEDULER_GET_PROCESSOR_MAXIMUM - Get processor maximum
-------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
uint32_t rtems_scheduler_get_processor_maximum( void );
DIRECTIVE STATUS CODES:
This directive returns the processor maximum supported by the system.
DESCRIPTION:
In uniprocessor configurations, a value of one will be returned.
In SMP configurations, this directive returns the minimum of the processors
(physically or virtually) available by the platform and the configured
processor maximum. Not all processors in the range from processor index
zero to the last processor index (which is the processor maximum minus one)
may be configured to be used by a scheduler or online (online processors
have a scheduler assigned).
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_processor_set:
SCHEDULER_GET_PROCESSOR_SET - Get processor set of a scheduler
--------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_get_processor_set(
rtems_id scheduler_id,
size_t cpusetsize,
cpu_set_t *cpuset
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_ADDRESS``
- The ``cpuset`` parameter is ``NULL``.
* - ``RTEMS_INVALID_NUMBER``
- The processor set buffer is too small for the set of processors owned
by the scheduler instance.
DESCRIPTION:
Returns the processor set owned by the scheduler instance in ``cpuset``. A
set bit in the processor set means that this processor is owned by the
scheduler instance and a cleared bit means the opposite.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_add_processor:
SCHEDULER_ADD_PROCESSOR - Add processor to a scheduler
------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_add_processor(
rtems_id scheduler_id,
uint32_t cpu_index
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_NOT_CONFIGURED``
- The processor is not configured to be used by the application.
* - ``RTEMS_INCORRECT_STATE``
- The processor is configured to be used by the application, however, it
is not online.
* - ``RTEMS_RESOURCE_IN_USE``
- The processor is already assigned to a scheduler instance.
DESCRIPTION:
Adds a processor to the set of processors owned by the specified scheduler
instance.
NOTES:
Must be called from task context. This operation obtains and releases the
objects allocator lock.
.. raw:: latex
\clearpage
.. _rtems_scheduler_remove_processor:
SCHEDULER_REMOVE_PROCESSOR - Remove processor from a scheduler
--------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_remove_processor(
rtems_id scheduler_id,
uint32_t cpu_index
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_NUMBER``
- The processor is not owned by the specified scheduler instance.
* - ``RTEMS_RESOURCE_IN_USE``
- The set of processors owned by the specified scheduler instance would
be empty after the processor removal and there exists a non-idle task
that uses this scheduler instance as its home scheduler instance.
* - ``RTEMS_RESOURCE_IN_USE``
- A task with a restricted processor affinity exists that uses this
scheduler instance as its home scheduler instance and it would be no
longer possible to allocate a processor for this task after the
removal of this processor.
DESCRIPTION:
Removes a processor from set of processors owned by the specified scheduler
instance.
NOTES:
Must be called from task context. This operation obtains and releases the
objects allocator lock. Removing a processor from a scheduler is a complex
operation that involves all tasks of the system.

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 2020 embedded brains GmbH (http://www.embedded-brains.de)
.. index:: scheduling
.. index:: task scheduling
.. _SchedulingConcepts:
Scheduling Concepts
*******************
.. toctree::
introduction
background
uniprocessor-schedulers
smp-schedulers
directives

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR)
Introduction
============
The concept of scheduling in real-time systems dictates the ability to provide
an immediate response to specific external events, particularly the necessity of
scheduling tasks to run within a specified time limit after the occurrence of
an event. For example, software embedded in life-support systems used to
monitor hospital patients must take instant action if a change in the patient's
status is detected.
The component of RTEMS responsible for providing this capability is
appropriately called the scheduler. The scheduler's sole purpose is to
allocate the all important resource of processor time to the various tasks
competing for attention.
The directives provided by the scheduler manager are:
- :ref:`rtems_scheduler_ident`
- :ref:`rtems_scheduler_ident_by_processor`
- :ref:`rtems_scheduler_ident_by_processor_set`
- :ref:`rtems_scheduler_get_maximum_priority`
- :ref:`rtems_scheduler_map_priority_to_posix`
- :ref:`rtems_scheduler_map_priority_from_posix`
- :ref:`rtems_scheduler_get_processor`
- :ref:`rtems_scheduler_get_processor_maximum`
- :ref:`rtems_scheduler_get_processor_set`
- :ref:`rtems_scheduler_add_processor`
- :ref:`rtems_scheduler_remove_processor`

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 2011 Petr Benes
.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR)
SMP Schedulers
==============
All SMP schedulers included in RTEMS are priority based. The processors
managed by a scheduler instance are allocated to the highest priority tasks
allowed to run.
.. _SchedulerSMPEDF:
Earliest Deadline First SMP Scheduler
-------------------------------------
This is a job-level fixed-priority scheduler using the Earliest Deadline First
(EDF) method. By convention, the maximum priority level is
:math:`min(INT\_MAX, 2^{62} - 1)` for background tasks. Tasks without an
active deadline are background tasks. In case deadlines are not used, then the
EDF scheduler behaves exactly like a fixed-priority scheduler. The tasks with
an active deadline have a higher priority than the background tasks. This
scheduler supports :ref:`task processor affinities <rtems_task_set_affinity>`
of one-to-one and one-to-all, e.g., a task can execute on exactly one processor
or all processors managed by the scheduler instance. The processor affinity
set of a task must contain all online processors to select the one-to-all
affinity. This is to avoid pathological cases if processors are added/removed
to/from the scheduler instance at run-time. In case the processor affinity set
contains not all online processors, then a one-to-one affinity will be used
selecting the processor with the largest index within the set of processors
currently owned by the scheduler instance. This scheduler algorithm supports
:ref:`thread pinning <ThreadPinning>`. The ready queues use a red-black tree
with the task priority as the key.
This scheduler algorithm is the default scheduler in SMP configurations if more
than one processor is configured (:ref:`CONFIGURE_MAXIMUM_PROCESSORS
<CONFIGURE_MAXIMUM_PROCESSORS>`).
.. _SchedulerSMPPriority:
Deterministic Priority SMP Scheduler
------------------------------------
A fixed-priority scheduler which uses a table of chains with one chain per
priority level for the ready tasks. The maximum priority level is
configurable. By default, the maximum priority level is 255 (256 priority
levels).
.. _SchedulerSMPPrioritySimple:
Simple Priority SMP Scheduler
-----------------------------
A fixed-priority scheduler which uses a sorted chain for the ready tasks. By
convention, the maximum priority level is 255. The implementation limit is
actually :math:`2^{63} - 1`.
.. _SchedulerSMPPriorityAffinity:
Arbitrary Processor Affinity Priority SMP Scheduler
---------------------------------------------------
A fixed-priority scheduler which uses a table of chains with one chain per
priority level for the ready tasks. The maximum priority level is
configurable. By default, the maximum priority level is 255 (256 priority
levels). This scheduler supports arbitrary task processor affinities. The
worst-case run-time complexity of some scheduler operations exceeds
:math:`O(n)` while :math:`n` is the count of ready tasks.

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 2011 Petr Benes
.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR)
Uniprocessor Schedulers
=======================
All uniprocessor schedulers included in RTEMS are priority based. The
processor is allocated to the highest priority task allowed to run.
.. _SchedulerPriority:
Deterministic Priority Scheduler
--------------------------------
This is the scheduler implementation which has always been in RTEMS. After the
4.10 release series, it was factored into a pluggable scheduler selection. It
schedules tasks using a priority based algorithm which takes into account
preemption. It is implemented using an array of FIFOs with a FIFO per
priority. It maintains a bitmap which is used to track which priorities have
ready tasks.
This algorithm is deterministic (e.g., predictable and fixed) in execution time.
This comes at the cost of using slightly over three (3) kilobytes of RAM on a
system configured to support 256 priority levels.
This scheduler is only aware of a single core.
.. _SchedulerPrioritySimple:
Simple Priority Scheduler
-------------------------
This scheduler implementation has the same behaviour as the Deterministic
Priority Scheduler but uses only one linked list to manage all ready tasks.
When a task is readied, a linear search of that linked list is performed to
determine where to insert the newly readied task.
This algorithm uses much less RAM than the Deterministic Priority Scheduler but
is *O(n)* where *n* is the number of ready tasks. In a small system with a
small number of tasks, this will not be a performance issue. Reducing RAM
consumption is often critical in small systems that are incapable of
supporting a large number of tasks.
This scheduler is only aware of a single core.
.. index:: earliest deadline first scheduling
.. _SchedulerEDF:
Earliest Deadline First Scheduler
---------------------------------
This is an alternative scheduler in RTEMS for single-core applications. The
primary EDF advantage is high total CPU utilization (theoretically up to
100%). It assumes that tasks have priorities equal to deadlines.
This EDF is initially preemptive, however, individual tasks may be declared
not-preemptive. Deadlines are declared using only Rate Monotonic manager whose
goal is to handle periodic behavior. Period is always equal to the deadline. All
ready tasks reside in a single ready queue implemented using a red-black tree.
This implementation of EDF schedules two different types of task priority types
while each task may switch between the two types within its execution. If a
task does have a deadline declared using the Rate Monotonic manager, the task
is deadline-driven and its priority is equal to deadline. On the contrary, if a
task does not have any deadline or the deadline is cancelled using the Rate
Monotonic manager, the task is considered a background task with priority equal
to that assigned upon initialization in the same manner as for priority
scheduler. Each background task is of lower importance than each
deadline-driven one and is scheduled when no deadline-driven task and no higher
priority background task is ready to run.
Every deadline-driven scheduling algorithm requires means for tasks to claim a
deadline. The Rate Monotonic Manager is responsible for handling periodic
execution. In RTEMS periods are equal to deadlines, thus if a task announces a
period, it has to be finished until the end of this period. The call of
``rtems_rate_monotonic_period`` passes the scheduler the length of an oncoming
deadline. Moreover, the ``rtems_rate_monotonic_cancel`` and
``rtems_rate_monotonic_delete`` calls clear the deadlines assigned to the task.
.. index:: constant bandwidth server scheduling
.. _SchedulerCBS:
Constant Bandwidth Server Scheduling (CBS)
------------------------------------------
This is an alternative scheduler in RTEMS for single-core applications. The
CBS is a budget aware extension of EDF scheduler. The main goal of this
scheduler is to ensure temporal isolation of tasks meaning that a task's
execution in terms of meeting deadlines must not be influenced by other tasks
as if they were run on multiple independent processors.
Each task can be assigned a server (current implementation supports only one
task per server). The server is characterized by period (deadline) and
computation time (budget). The ratio budget/period yields bandwidth, which is
the fraction of CPU to be reserved by the scheduler for each subsequent period.
The CBS is equipped with a set of rules applied to tasks attached to servers
ensuring that deadline miss because of another task cannot occur. In case a
task breaks one of the rules, its priority is pulled to background until the
end of its period and then restored again. The rules are:
- Task cannot exceed its registered budget,
- Task cannot be unblocked when a ratio between remaining budget and remaining
deadline is higher than declared bandwidth.
The CBS provides an extensive API. Unlike EDF, the
``rtems_rate_monotonic_period`` does not declare a deadline because it is
carried out using CBS API. This call only announces next period.

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.. SPDX-License-Identifier: CC-BY-SA-4.0
.. Copyright (C) 2011 Petr Benes
.. Copyright (C) 2010 Gedare Bloom
.. Copyright (C) 1988, 2008 On-Line Applications Research Corporation (OAR)
.. index:: scheduling
.. index:: task scheduling
.. _SchedulingConcepts:
Scheduling Concepts
*******************
Introduction
============
The concept of scheduling in real-time systems dictates the ability to provide
an immediate response to specific external events, particularly the necessity of
scheduling tasks to run within a specified time limit after the occurrence of
an event. For example, software embedded in life-support systems used to
monitor hospital patients must take instant action if a change in the patient's
status is detected.
The component of RTEMS responsible for providing this capability is
appropriately called the scheduler. The scheduler's sole purpose is to
allocate the all important resource of processor time to the various tasks
competing for attention.
The directives provided by the scheduler manager are:
- rtems_scheduler_ident_ - Get ID of a scheduler
- rtems_scheduler_ident_by_processor_ - Get ID of a scheduler by processor
- rtems_scheduler_ident_by_processor_set_ - Get ID of a scheduler by processor set
- rtems_scheduler_get_maximum_priority_ - Get maximum task priority of a scheduler
- rtems_scheduler_map_priority_to_posix_ - Map task priority to POSIX thread
priority
- rtems_scheduler_map_priority_from_posix_ - Map POSIX thread priority to task
prority
- rtems_scheduler_get_processor_ - Get current processor index
- rtems_scheduler_get_processor_maximum_ - Get processor maximum
- rtems_scheduler_get_processor_set_ - Get processor set of a scheduler
- rtems_scheduler_add_processor_ - Add processor to a scheduler
- rtems_scheduler_remove_processor_ - Remove processor from a scheduler
.. index:: scheduling algorithms
Scheduling Algorithms
---------------------
RTEMS provides a plugin framework that allows it to support multiple
scheduling algorithms. RTEMS includes multiple scheduling algorithms, and the
user can select which of these they wish to use in their application at
link-time. In addition, the user can implement their own scheduling algorithm
and configure RTEMS to use it.
Supporting multiple scheduling algorithms gives the end user the option to
select the algorithm which is most appropriate to their use case. Most
real-time operating systems schedule tasks using a priority based algorithm,
possibly with preemption control. The classic RTEMS scheduling algorithm which
was the only algorithm available in RTEMS 4.10 and earlier, is a fixed-priority
scheduling algorithm. This scheduling algorithm is suitable for uniprocessor
(e.g., non-SMP) systems and is known as the *Deterministic Priority
Scheduler*. Unless the user configures another scheduling algorithm, RTEMS
will use this on uniprocessor systems.
.. index:: priority scheduling
Priority Scheduling
-------------------
When using priority based scheduling, RTEMS allocates the processor using a
priority-based, preemptive algorithm augmented to provide round-robin
characteristics within individual priority groups. The goal of this algorithm
is to guarantee that the task which is executing on the processor at any point
in time is the one with the highest priority among all tasks in the ready
state.
When a task is added to the ready chain, it is placed behind all other tasks of
the same priority. This rule provides a round-robin within a priority group
scheduling characteristic. This means that in a group of equal priority tasks,
tasks will execute in the order they become ready or FIFO order. Even though
there are ways to manipulate and adjust task priorities, the most important
rule to remember is:
.. note::
Priority based scheduling algorithms will always select the highest priority
task that is ready to run when allocating the processor to a task.
Priority scheduling is the most commonly used scheduling algorithm. It should
be used by applications in which multiple tasks contend for CPU time or other
resources, and there is a need to ensure certain tasks are given priority over
other tasks.
There are a few common methods of accomplishing the mechanics of this
algorithm. These ways involve a list or chain of tasks in the ready state.
- The least efficient method is to randomly place tasks in the ready chain
forcing the scheduler to scan the entire chain to determine which task
receives the processor.
- A more efficient method is to schedule the task by placing it in the proper
place on the ready chain based on the designated scheduling criteria at the
time it enters the ready state. Thus, when the processor is free, the first
task on the ready chain is allocated the processor.
- Another mechanism is to maintain a list of FIFOs per priority. When a task
is readied, it is placed on the rear of the FIFO for its priority. This
method is often used with a bitmap to assist in locating which FIFOs have
ready tasks on them. This data structure has :math:`O(1)` insert, extract
and find highest ready run-time complexities.
- A red-black tree may be used for the ready queue with the priority as the
key. This data structure has :math:`O(log(n))` insert, extract and find
highest ready run-time complexities while :math:`n` is the count of tasks in
the ready queue.
RTEMS currently includes multiple priority based scheduling algorithms as well
as other algorithms that incorporate deadline. Each algorithm is discussed in
the following sections.
Uniprocessor Schedulers
=======================
All uniprocessor schedulers included in RTEMS are priority based. The
processor is allocated to the highest priority task allowed to run.
.. _SchedulerPriority:
Deterministic Priority Scheduler
--------------------------------
This is the scheduler implementation which has always been in RTEMS. After the
4.10 release series, it was factored into a pluggable scheduler selection. It
schedules tasks using a priority based algorithm which takes into account
preemption. It is implemented using an array of FIFOs with a FIFO per
priority. It maintains a bitmap which is used to track which priorities have
ready tasks.
This algorithm is deterministic (e.g., predictable and fixed) in execution time.
This comes at the cost of using slightly over three (3) kilobytes of RAM on a
system configured to support 256 priority levels.
This scheduler is only aware of a single core.
.. _SchedulerPrioritySimple:
Simple Priority Scheduler
-------------------------
This scheduler implementation has the same behaviour as the Deterministic
Priority Scheduler but uses only one linked list to manage all ready tasks.
When a task is readied, a linear search of that linked list is performed to
determine where to insert the newly readied task.
This algorithm uses much less RAM than the Deterministic Priority Scheduler but
is *O(n)* where *n* is the number of ready tasks. In a small system with a
small number of tasks, this will not be a performance issue. Reducing RAM
consumption is often critical in small systems that are incapable of
supporting a large number of tasks.
This scheduler is only aware of a single core.
.. index:: earliest deadline first scheduling
.. _SchedulerEDF:
Earliest Deadline First Scheduler
---------------------------------
This is an alternative scheduler in RTEMS for single-core applications. The
primary EDF advantage is high total CPU utilization (theoretically up to
100%). It assumes that tasks have priorities equal to deadlines.
This EDF is initially preemptive, however, individual tasks may be declared
not-preemptive. Deadlines are declared using only Rate Monotonic manager whose
goal is to handle periodic behavior. Period is always equal to the deadline. All
ready tasks reside in a single ready queue implemented using a red-black tree.
This implementation of EDF schedules two different types of task priority types
while each task may switch between the two types within its execution. If a
task does have a deadline declared using the Rate Monotonic manager, the task
is deadline-driven and its priority is equal to deadline. On the contrary, if a
task does not have any deadline or the deadline is cancelled using the Rate
Monotonic manager, the task is considered a background task with priority equal
to that assigned upon initialization in the same manner as for priority
scheduler. Each background task is of lower importance than each
deadline-driven one and is scheduled when no deadline-driven task and no higher
priority background task is ready to run.
Every deadline-driven scheduling algorithm requires means for tasks to claim a
deadline. The Rate Monotonic Manager is responsible for handling periodic
execution. In RTEMS periods are equal to deadlines, thus if a task announces a
period, it has to be finished until the end of this period. The call of
``rtems_rate_monotonic_period`` passes the scheduler the length of an oncoming
deadline. Moreover, the ``rtems_rate_monotonic_cancel`` and
``rtems_rate_monotonic_delete`` calls clear the deadlines assigned to the task.
.. index:: constant bandwidth server scheduling
.. _SchedulerCBS:
Constant Bandwidth Server Scheduling (CBS)
------------------------------------------
This is an alternative scheduler in RTEMS for single-core applications. The
CBS is a budget aware extension of EDF scheduler. The main goal of this
scheduler is to ensure temporal isolation of tasks meaning that a task's
execution in terms of meeting deadlines must not be influenced by other tasks
as if they were run on multiple independent processors.
Each task can be assigned a server (current implementation supports only one
task per server). The server is characterized by period (deadline) and
computation time (budget). The ratio budget/period yields bandwidth, which is
the fraction of CPU to be reserved by the scheduler for each subsequent period.
The CBS is equipped with a set of rules applied to tasks attached to servers
ensuring that deadline miss because of another task cannot occur. In case a
task breaks one of the rules, its priority is pulled to background until the
end of its period and then restored again. The rules are:
- Task cannot exceed its registered budget,
- Task cannot be unblocked when a ratio between remaining budget and remaining
deadline is higher than declared bandwidth.
The CBS provides an extensive API. Unlike EDF, the
``rtems_rate_monotonic_period`` does not declare a deadline because it is
carried out using CBS API. This call only announces next period.
SMP Schedulers
==============
All SMP schedulers included in RTEMS are priority based. The processors
managed by a scheduler instance are allocated to the highest priority tasks
allowed to run.
.. _SchedulerSMPEDF:
Earliest Deadline First SMP Scheduler
-------------------------------------
This is a job-level fixed-priority scheduler using the Earliest Deadline First
(EDF) method. By convention, the maximum priority level is
:math:`min(INT\_MAX, 2^{62} - 1)` for background tasks. Tasks without an
active deadline are background tasks. In case deadlines are not used, then the
EDF scheduler behaves exactly like a fixed-priority scheduler. The tasks with
an active deadline have a higher priority than the background tasks. This
scheduler supports :ref:`task processor affinities <rtems_task_set_affinity>`
of one-to-one and one-to-all, e.g., a task can execute on exactly one processor
or all processors managed by the scheduler instance. The processor affinity
set of a task must contain all online processors to select the one-to-all
affinity. This is to avoid pathological cases if processors are added/removed
to/from the scheduler instance at run-time. In case the processor affinity set
contains not all online processors, then a one-to-one affinity will be used
selecting the processor with the largest index within the set of processors
currently owned by the scheduler instance. This scheduler algorithm supports
:ref:`thread pinning <ThreadPinning>`. The ready queues use a red-black tree
with the task priority as the key.
This scheduler algorithm is the default scheduler in SMP configurations if more
than one processor is configured (:ref:`CONFIGURE_MAXIMUM_PROCESSORS
<CONFIGURE_MAXIMUM_PROCESSORS>`).
.. _SchedulerSMPPriority:
Deterministic Priority SMP Scheduler
------------------------------------
A fixed-priority scheduler which uses a table of chains with one chain per
priority level for the ready tasks. The maximum priority level is
configurable. By default, the maximum priority level is 255 (256 priority
levels).
.. _SchedulerSMPPrioritySimple:
Simple Priority SMP Scheduler
-----------------------------
A fixed-priority scheduler which uses a sorted chain for the ready tasks. By
convention, the maximum priority level is 255. The implementation limit is
actually :math:`2^{63} - 1`.
.. _SchedulerSMPPriorityAffinity:
Arbitrary Processor Affinity Priority SMP Scheduler
---------------------------------------------------
A fixed-priority scheduler which uses a table of chains with one chain per
priority level for the ready tasks. The maximum priority level is
configurable. By default, the maximum priority level is 255 (256 priority
levels). This scheduler supports arbitrary task processor affinities. The
worst-case run-time complexity of some scheduler operations exceeds
:math:`O(n)` while :math:`n` is the count of ready tasks.
.. index:: scheduling mechanisms
Scheduling Modification Mechanisms
==================================
RTEMS provides four mechanisms which allow the user to alter the task
scheduling decisions:
- user-selectable task priority level
- task preemption control
- task timeslicing control
- manual round-robin selection
Each of these methods provides a powerful capability to customize sets of tasks
to satisfy the unique and particular requirements encountered in custom
real-time applications. Although each mechanism operates independently, there
is a precedence relationship which governs the effects of scheduling
modifications. The evaluation order for scheduling characteristics is always
priority, preemption mode, and timeslicing. When reading the descriptions of
timeslicing and manual round-robin it is important to keep in mind that
preemption (if enabled) of a task by higher priority tasks will occur as
required, overriding the other factors presented in the description.
.. index:: task priority
Task Priority and Scheduling
----------------------------
The most significant task scheduling modification mechanism is the ability for
the user to assign a priority level to each individual task when it is created
and to alter a task's priority at run-time. The maximum priority level depends
on the configured scheduler. A lower priority level means higher priority
(higher importance). The maximum priority level of the default uniprocessor
scheduler is 255.
.. index:: preemption
Preemption
----------
Another way the user can alter the basic scheduling algorithm is by
manipulating the preemption mode flag (``RTEMS_PREEMPT_MASK``) of individual
tasks. If preemption is disabled for a task (``RTEMS_NO_PREEMPT``), then the
task will not relinquish control of the processor until it terminates, blocks,
or re-enables preemption. Even tasks which become ready to run and possess
higher priority levels will not be allowed to execute. Note that the
preemption setting has no effect on the manner in which a task is scheduled.
It only applies once a task has control of the processor.
.. index:: timeslicing
.. index:: round robin scheduling
Timeslicing
-----------
Timeslicing or round-robin scheduling is an additional method which can be used
to alter the basic scheduling algorithm. Like preemption, timeslicing is
specified on a task by task basis using the timeslicing mode flag
(``RTEMS_TIMESLICE_MASK``). If timeslicing is enabled for a task
(``RTEMS_TIMESLICE``), then RTEMS will limit the amount of time the task can
execute before the processor is allocated to another task. Each tick of the
real-time clock reduces the currently running task's timeslice. When the
execution time equals the timeslice, RTEMS will dispatch another task of the
same priority to execute. If there are no other tasks of the same priority
ready to execute, then the current task is allocated an additional timeslice
and continues to run. Remember that a higher priority task will preempt the
task (unless preemption is disabled) as soon as it is ready to run, even if the
task has not used up its entire timeslice.
.. index:: manual round robin
Manual Round-Robin
------------------
The final mechanism for altering the RTEMS scheduling algorithm is called
manual round-robin. Manual round-robin is invoked by using
the ``rtems_task_wake_after`` directive with a time interval of
``RTEMS_YIELD_PROCESSOR``. This allows a task to give up the processor and be
immediately returned to the ready chain at the end of its priority group. If
no other tasks of the same priority are ready to run, then the task does not
lose control of the processor.
.. index:: dispatching
Dispatching Tasks
=================
The dispatcher is the RTEMS component responsible for allocating the processor
to a ready task. In order to allocate the processor to one task, it must be
deallocated or retrieved from the task currently using it. This involves a
concept called a context switch. To perform a context switch, the dispatcher
saves the context of the current task and restores the context of the task
which has been allocated to the processor. Saving and restoring a task's
context is the storing/loading of all the essential information about a task to
enable it to continue execution without any effects of the interruption. For
example, the contents of a task's register set must be the same when it is
given the processor as they were when it was taken away. All of the
information that must be saved or restored for a context switch is located
either in the TCB or on the task's stacks.
Tasks that utilize a numeric coprocessor and are created with the
``RTEMS_FLOATING_POINT`` attribute require additional operations during a
context switch. These additional operations are necessary to save and restore
the floating point context of ``RTEMS_FLOATING_POINT`` tasks. To avoid
unnecessary save and restore operations, the state of the numeric coprocessor
is only saved when a ``RTEMS_FLOATING_POINT`` task is dispatched and that task
was not the last task to utilize the coprocessor.
.. index:: task state transitions
Task State Transitions
======================
Tasks in an RTEMS system must always be in one of the five allowable task
states. These states are: executing, ready, blocked, dormant, and
non-existent.
A task occupies the non-existent state before a ``rtems_task_create`` has been
issued on its behalf. A task enters the non-existent state from any other
state in the system when it is deleted with the ``rtems_task_delete``
directive. While a task occupies this state it does not have a TCB or a task
ID assigned to it; therefore, no other tasks in the system may reference this
task.
When a task is created via the ``rtems_task_create`` directive, it enters the
dormant state. This state is not entered through any other means. Although
the task exists in the system, it cannot actively compete for system resources.
It will remain in the dormant state until it is started via the
``rtems_task_start`` directive, at which time it enters the ready state. The
task is now permitted to be scheduled for the processor and to compete for
other system resources.
.. figure:: ../images/c_user/states.png
:width: 70%
:align: center
:alt: Task State Transitions
A task occupies the blocked state whenever it is unable to be scheduled to run.
A running task may block itself or be blocked by other tasks in the system.
The running task blocks itself through voluntary operations that cause the task
to wait. The only way a task can block a task other than itself is with the
``rtems_task_suspend`` directive. A task enters the blocked state due to any
of the following conditions:
- A task issues a ``rtems_task_suspend`` directive which blocks either itself
or another task in the system.
- The running task issues a ``rtems_barrier_wait`` directive.
- The running task issues a ``rtems_message_queue_receive`` directive with the
wait option, and the message queue is empty.
- The running task issues a ``rtems_event_receive`` directive with the wait
option, and the currently pending events do not satisfy the request.
- The running task issues a ``rtems_semaphore_obtain`` directive with the wait
option and the requested semaphore is unavailable.
- The running task issues a ``rtems_task_wake_after`` directive which blocks
the task for the given time interval. If the time interval specified is
zero, the task yields the processor and remains in the ready state.
- The running task issues a ``rtems_task_wake_when`` directive which blocks the
task until the requested date and time arrives.
- The running task issues a ``rtems_rate_monotonic_period`` directive and must
wait for the specified rate monotonic period to conclude.
- The running task issues a ``rtems_region_get_segment`` directive with the
wait option and there is not an available segment large enough to satisfy the
task's request.
A blocked task may also be suspended. Therefore, both the suspension and the
blocking condition must be removed before the task becomes ready to run again.
A task occupies the ready state when it is able to be scheduled to run, but
currently does not have control of the processor. Tasks of the same or higher
priority will yield the processor by either becoming blocked, completing their
timeslice, or being deleted. All tasks with the same priority will execute in
FIFO order. A task enters the ready state due to any of the following
conditions:
- A running task issues a ``rtems_task_resume`` directive for a task that is
suspended and the task is not blocked waiting on any resource.
- A running task issues a ``rtems_message_queue_send``,
``rtems_message_queue_broadcast``, or a ``rtems_message_queue_urgent``
directive which posts a message to the queue on which the blocked task is
waiting.
- A running task issues an ``rtems_event_send`` directive which sends an event
condition to a task that is blocked waiting on that event condition.
- A running task issues a ``rtems_semaphore_release`` directive which releases
the semaphore on which the blocked task is waiting.
- A timeout interval expires for a task which was blocked by a call to the
``rtems_task_wake_after`` directive.
- A timeout period expires for a task which blocked by a call to the
``rtems_task_wake_when`` directive.
- A running task issues a ``rtems_region_return_segment`` directive which
releases a segment to the region on which the blocked task is waiting and a
resulting segment is large enough to satisfy the task's request.
- A rate monotonic period expires for a task which blocked by a call to the
``rtems_rate_monotonic_period`` directive.
- A timeout interval expires for a task which was blocked waiting on a message,
event, semaphore, or segment with a timeout specified.
- A running task issues a directive which deletes a message queue, a semaphore,
or a region on which the blocked task is waiting.
- A running task issues a ``rtems_task_restart`` directive for the blocked
task.
- The running task, with its preemption mode enabled, may be made ready by
issuing any of the directives that may unblock a task with a higher priority.
This directive may be issued from the running task itself or from an ISR. A
ready task occupies the executing state when it has control of the CPU. A
task enters the executing state due to any of the following conditions:
- The task is the highest priority ready task in the system.
- The running task blocks and the task is next in the scheduling queue. The
task may be of equal priority as in round-robin scheduling or the task may
possess the highest priority of the remaining ready tasks.
- The running task may reenable its preemption mode and a task exists in the
ready queue that has a higher priority than the running task.
- The running task lowers its own priority and another task is of higher
priority as a result.
- The running task raises the priority of a task above its own and the running
task is in preemption mode.
Directives
==========
This section details the scheduler manager. A subsection is dedicated to each
of these services and describes the calling sequence, related constants, usage,
and status codes.
.. raw:: latex
\clearpage
.. _rtems_scheduler_ident:
SCHEDULER_IDENT - Get ID of a scheduler
---------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_ident(
rtems_name name,
rtems_id *id
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``id`` parameter is ``NULL``.
* - ``RTEMS_INVALID_NAME``
- Invalid scheduler name.
DESCRIPTION:
Identifies a scheduler by its name. The scheduler name is determined by
the scheduler configuration. See :ref:`ConfigurationSchedulerTable`
and :ref:`CONFIGURE_SCHEDULER_NAME`.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_ident_by_processor:
SCHEDULER_IDENT_BY_PROCESSOR - Get ID of a scheduler by processor
-----------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_ident_by_processor(
uint32_t cpu_index,
rtems_id *id
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``id`` parameter is ``NULL``.
* - ``RTEMS_INVALID_NAME``
- Invalid processor index.
* - ``RTEMS_INCORRECT_STATE``
- The processor index is valid, however, this processor is not owned by
a scheduler.
DESCRIPTION:
Identifies a scheduler by a processor.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_ident_by_processor_set:
SCHEDULER_IDENT_BY_PROCESSOR_SET - Get ID of a scheduler by processor set
-------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_ident_by_processor_set(
size_t cpusetsize,
const cpu_set_t *cpuset,
rtems_id *id
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``id`` parameter is ``NULL``.
* - ``RTEMS_INVALID_SIZE``
- Invalid processor set size.
* - ``RTEMS_INVALID_NAME``
- The processor set contains no online processor.
* - ``RTEMS_INCORRECT_STATE``
- The processor set is valid, however, the highest numbered online
processor in the specified processor set is not owned by a scheduler.
DESCRIPTION:
Identifies a scheduler by a processor set. The scheduler is selected
according to the highest numbered online processor in the specified
processor set.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_maximum_priority:
SCHEDULER_GET_MAXIMUM_PRIORITY - Get maximum task priority of a scheduler
-------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_get_maximum_priority(
rtems_id scheduler_id,
rtems_task_priority *priority
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_ADDRESS``
- The ``priority`` parameter is ``NULL``.
DESCRIPTION:
Returns the maximum task priority of the specified scheduler instance in
``priority``.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_map_priority_to_posix:
SCHEDULER_MAP_PRIORITY_TO_POSIX - Map task priority to POSIX thread prority
---------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_map_priority_to_posix(
rtems_id scheduler_id,
rtems_task_priority priority,
int *posix_priority
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``posix_priority`` parameter is ``NULL``.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_PRIORITY``
- Invalid task priority.
DESCRIPTION:
Maps a task priority to the corresponding POSIX thread priority.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_map_priority_from_posix:
SCHEDULER_MAP_PRIORITY_FROM_POSIX - Map POSIX thread prority to task priority
-----------------------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_map_priority_from_posix(
rtems_id scheduler_id,
int posix_priority,
rtems_task_priority *priority
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ADDRESS``
- The ``priority`` parameter is ``NULL``.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_PRIORITY``
- Invalid POSIX thread priority.
DESCRIPTION:
Maps a POSIX thread priority to the corresponding task priority.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_processor:
SCHEDULER_GET_PROCESSOR - Get current processor index
-----------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
uint32_t rtems_scheduler_get_processor( void );
DIRECTIVE STATUS CODES:
This directive returns the index of the current processor.
DESCRIPTION:
In uniprocessor configurations, a value of zero will be returned.
In SMP configurations, an architecture specific method is used to obtain the
index of the current processor in the system. The set of processor indices
is the range of integers starting with zero up to the processor count minus
one.
Outside of sections with disabled thread dispatching the current processor
index may change after every instruction since the thread may migrate from
one processor to another. Sections with disabled interrupts are sections
with thread dispatching disabled.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_processor_maximum:
SCHEDULER_GET_PROCESSOR_MAXIMUM - Get processor maximum
-------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
uint32_t rtems_scheduler_get_processor_maximum( void );
DIRECTIVE STATUS CODES:
This directive returns the processor maximum supported by the system.
DESCRIPTION:
In uniprocessor configurations, a value of one will be returned.
In SMP configurations, this directive returns the minimum of the processors
(physically or virtually) available by the platform and the configured
processor maximum. Not all processors in the range from processor index
zero to the last processor index (which is the processor maximum minus one)
may be configured to be used by a scheduler or online (online processors
have a scheduler assigned).
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_get_processor_set:
SCHEDULER_GET_PROCESSOR_SET - Get processor set of a scheduler
--------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_get_processor_set(
rtems_id scheduler_id,
size_t cpusetsize,
cpu_set_t *cpuset
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_ADDRESS``
- The ``cpuset`` parameter is ``NULL``.
* - ``RTEMS_INVALID_NUMBER``
- The processor set buffer is too small for the set of processors owned
by the scheduler instance.
DESCRIPTION:
Returns the processor set owned by the scheduler instance in ``cpuset``. A
set bit in the processor set means that this processor is owned by the
scheduler instance and a cleared bit means the opposite.
NOTES:
None.
.. raw:: latex
\clearpage
.. _rtems_scheduler_add_processor:
SCHEDULER_ADD_PROCESSOR - Add processor to a scheduler
------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_add_processor(
rtems_id scheduler_id,
uint32_t cpu_index
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_NOT_CONFIGURED``
- The processor is not configured to be used by the application.
* - ``RTEMS_INCORRECT_STATE``
- The processor is configured to be used by the application, however, it
is not online.
* - ``RTEMS_RESOURCE_IN_USE``
- The processor is already assigned to a scheduler instance.
DESCRIPTION:
Adds a processor to the set of processors owned by the specified scheduler
instance.
NOTES:
Must be called from task context. This operation obtains and releases the
objects allocator lock.
.. raw:: latex
\clearpage
.. _rtems_scheduler_remove_processor:
SCHEDULER_REMOVE_PROCESSOR - Remove processor from a scheduler
--------------------------------------------------------------
CALLING SEQUENCE:
.. code-block:: c
rtems_status_code rtems_scheduler_remove_processor(
rtems_id scheduler_id,
uint32_t cpu_index
);
DIRECTIVE STATUS CODES:
.. list-table::
:class: rtems-table
* - ``RTEMS_SUCCESSFUL``
- Successful operation.
* - ``RTEMS_INVALID_ID``
- Invalid scheduler instance identifier.
* - ``RTEMS_INVALID_NUMBER``
- The processor is not owned by the specified scheduler instance.
* - ``RTEMS_RESOURCE_IN_USE``
- The set of processors owned by the specified scheduler instance would
be empty after the processor removal and there exists a non-idle task
that uses this scheduler instance as its home scheduler instance.
* - ``RTEMS_RESOURCE_IN_USE``
- A task with a restricted processor affinity exists that uses this
scheduler instance as its home scheduler instance and it would be no
longer possible to allocate a processor for this task after the
removal of this processor.
DESCRIPTION:
Removes a processor from set of processors owned by the specified scheduler
instance.
NOTES:
Must be called from task context. This operation obtains and releases the
objects allocator lock. Removing a processor from a scheduler is a complex
operation that involves all tasks of the system.